Development of a Micromanipulation System with Force Sensing

Khan, Shahzad and Nergiz, Ahmet Özcan and Şabanoviç, Asif and Patoğlu, Volkan (2007) Development of a Micromanipulation System with Force Sensing. In: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems,, San Diego (Accepted/In Press)

Abstract

This article provides in-depth knowledge aboutour undergoing effort to develop an open architecture micromanipulationsystem with force sensing capabilities. The major requirement to perform any micromanipulation task effectively is to ensure the controlled motion of actuators within nanometer accuracy with low overshoot even under the influence of disturbances. Moreover, to achieve high dexterity in manipulation, control of the interaction forces is required. In micromanipulation, control of interaction forces necessitates force sensing in nano-Newton range. In this paper, we present a
position controller based on a discrete time sliding mode control architecture along with a disturbance observer. Experimental verifications for this controller are demonstrated for 100, 50 and 10 nanometer step inputs applied to PZT stages. Our results indicate that position tracking accuracies up to 10 nanometers, without any overshoot and low steady state error are achievable. Furthermore, the paper includes experimental verification of force sensing within nano-Newton resolution using a piezoresistive cantilever end-effector. Experimental results are compared to the theoretical estimates of the change in attractive forces as a function of decreasing distance and of the pull off force between a silicon tip and a glass surface, respectively. Good agreement among the experimental data and the theoretical estimates has been demonstrated.